4,104 research outputs found
Ranking to Learn: Feature Ranking and Selection via Eigenvector Centrality
In an era where accumulating data is easy and storing it inexpensive, feature
selection plays a central role in helping to reduce the high-dimensionality of
huge amounts of otherwise meaningless data. In this paper, we propose a
graph-based method for feature selection that ranks features by identifying the
most important ones into arbitrary set of cues. Mapping the problem on an
affinity graph-where features are the nodes-the solution is given by assessing
the importance of nodes through some indicators of centrality, in particular,
the Eigen-vector Centrality (EC). The gist of EC is to estimate the importance
of a feature as a function of the importance of its neighbors. Ranking central
nodes individuates candidate features, which turn out to be effective from a
classification point of view, as proved by a thoroughly experimental section.
Our approach has been tested on 7 diverse datasets from recent literature
(e.g., biological data and object recognition, among others), and compared
against filter, embedded and wrappers methods. The results are remarkable in
terms of accuracy, stability and low execution time.Comment: Preprint version - Lecture Notes in Computer Science - Springer 201
Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd
Object detection and 6D pose estimation in the crowd (scenes with multiple
object instances, severe foreground occlusions and background distractors), has
become an important problem in many rapidly evolving technological areas such
as robotics and augmented reality. Single shot-based 6D pose estimators with
manually designed features are still unable to tackle the above challenges,
motivating the research towards unsupervised feature learning and
next-best-view estimation. In this work, we present a complete framework for
both single shot-based 6D object pose estimation and next-best-view prediction
based on Hough Forests, the state of the art object pose estimator that
performs classification and regression jointly. Rather than using manually
designed features we a) propose an unsupervised feature learnt from
depth-invariant patches using a Sparse Autoencoder and b) offer an extensive
evaluation of various state of the art features. Furthermore, taking advantage
of the clustering performed in the leaf nodes of Hough Forests, we learn to
estimate the reduction of uncertainty in other views, formulating the problem
of selecting the next-best-view. To further improve pose estimation, we propose
an improved joint registration and hypotheses verification module as a final
refinement step to reject false detections. We provide two additional
challenging datasets inspired from realistic scenarios to extensively evaluate
the state of the art and our framework. One is related to domestic environments
and the other depicts a bin-picking scenario mostly found in industrial
settings. We show that our framework significantly outperforms state of the art
both on public and on our datasets.Comment: CVPR 2016 accepted paper, project page:
http://www.iis.ee.ic.ac.uk/rkouskou/6D_NBV.htm
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